US20150307130A1 - Driving assistance apparatus and method - Google Patents
Driving assistance apparatus and method Download PDFInfo
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- US20150307130A1 US20150307130A1 US14/690,842 US201514690842A US2015307130A1 US 20150307130 A1 US20150307130 A1 US 20150307130A1 US 201514690842 A US201514690842 A US 201514690842A US 2015307130 A1 US2015307130 A1 US 2015307130A1
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- 101100208381 Caenorhabditis elegans tth-1 gene Proteins 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000008520 organization Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 238000004458 analytical method Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
Definitions
- Japanese Laid-Open Patent Publication No. 2007-313978 describes a steering control apparatus that recognizes a lane division line to prevent a vehicle from departing from the lane in which the vehicle is running.
- the apparatus reduces a reference value for a first amount of operation, which includes the amount of steering torque, a steering angle, and the like. The apparatus stops steering assistance when the first amount of operation reaches the reference value.
- the display control section 13 outputs information related to the LKA to a display section 55 provided in the vehicle 100 .
- the display section 55 displays a branch road corresponding to a target track and the other branch roads, branch from a branch point in a discriminable manner.
- the driver may selectively determine which of branch roads ahead in the advancing direction of the vehicle 100 corresponds to the target track. This allows the driver to easily determine whether the branch road corresponding to the target track is along his/her intended advancing direction.
- the threshold value Tth for stopping the steering assistance described above is changed in accordance with a connection state of a branch road, such as a junction and a rest area, for example. That is, in a connection state in which importance or possibility of a lane change is high, the threshold value Tth is set low. Thus, it is possible to perform appropriate assistance corresponding to the driver's intention.
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- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Navigation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
A driving assistance apparatus causes a vehicle to follow a target track by assisting steering of the vehicle. The apparatus includes a followed target recognition section, a steering assistance control section, and an information providing section. The target recognition section recognizes the target track ahead in the advancing direction of the vehicle. The steering assistance control section controls a steering apparatus to perform steering assistance, thereby causing the vehicle to follow the target track. In a case where there is a branch point ahead in the advancing direction of the vehicle, the information providing section provides the driver with information related to a first branch road corresponding to the target track in a plurality of branch roads branching from the branch point.
Description
- The present invention relates to a driving assistance apparatus and method for performing steering assistance for causing a vehicle to follow a target track.
- Heretofore, there is known an apparatus that assists in driving by performing steering assistance for causing a vehicle to follow a target track. The apparatus causes a vehicle to follow a track based on a lane division line and to follow a traveling track of a preceding vehicle, for example.
- For example, Japanese Laid-Open Patent Publication No. 2007-313978 describes a steering control apparatus that recognizes a lane division line to prevent a vehicle from departing from the lane in which the vehicle is running. In a case where a branch point exists ahead the vehicle and a recommended route that is recommended by route guidance is different from the lane in which the vehicle is running, the apparatus reduces a reference value for a first amount of operation, which includes the amount of steering torque, a steering angle, and the like. The apparatus stops steering assistance when the first amount of operation reaches the reference value.
- In the apparatus described above, in a case where a branch point exists ahead of a vehicle and a recommended route is different from the lane in which the vehicle is running, the steering control is likely to be stopped. As a result, a lane change to a direction intended by the driver is facilitated. Unfortunately, before reaching the branch point, it is hard to grasp which lane in a plurality of lanes divided from the branch point is recognized as the lane in which the vehicle is running by the apparatus. In addition, steering operation for a lane change by the driver may be also delayed. Such a problem is generally common to not only a driving assistance apparatus for causing a vehicle to follow a lane in which the vehicle is running but also to a driving assistance apparatus for causing a vehicle to follow a target track.
- It is an objective of the present invention to provide a driving assistance apparatus capable of properly performing steering assistance even near branch roads.
- To achieve the foregoing objective, a driving assistance apparatus is provide that that causes a vehicle to follow a target track by assisting in steering of the vehicle. The apparatus includes a target recognition section that recognizes the target track ahead in an advancing direction of the vehicle, a steering assistance control section that controls a steering apparatus to perform steering assistance, thereby causing the vehicle to follow the target track, and an information providing section that, in a case where there is a branch point ahead in the advancing direction of the vehicle, provides a driver with information related to a first branch road corresponding to the target track in a plurality of branch roads branching from the branch point.
- In accordance with another aspect of the present invention, a method for assisting driving is provided that causes a vehicle to follow a target track by assisting in steering of the vehicle. The method includes: recognizing the target track ahead in an advancing direction of the vehicle; controlling a steering apparatus to perform steering assistance, thereby causing the vehicle to follow the target track; and in a case where there is a branch point ahead in the advancing direction of the vehicle, providing a driver with information related to a first branch road corresponding to the target track in a plurality of branch roads branching from the branch point.
- Other aspects and advantages of the invention will become apparent from the following description, taken in conjunction with the accompanying drawings, illustrating by way of example the principles of the invention.
- The invention, together with objects and advantages thereof, may best be understood by reference to the following description of the presently preferred embodiments together with the accompanying drawings in which:
-
FIG. 1 is a block diagram schematically showing the configuration of a driving assistance apparatus according to a first embodiment; -
FIG. 2 is a schematic diagram showing an example of branch information in the driving assistance apparatus ofFIG. 1 ; -
FIG. 3 is a schematic diagram showing one form of the display section in the driving assistance apparatus ofFIG. 1 ; -
FIG. 4 is a schematic diagram showing one form of the display section in the driving assistance apparatus ofFIG. 1 ; -
FIG. 5A shows a first display pattern that is displayed in each of the display sections ofFIGS. 3 and 4 if a branch point is not detected; -
FIG. 5B shows a second display pattern that is displayed in each of the display sections ofFIGS. 3 and 4 ; -
FIGS. 5C and 5D show third display patterns that are displayed in each of the display sections ofFIGS. 3 and 4 ; -
FIG. 6 is a diagram showing a threshold value used for stopping steering assistance; -
FIG. 7 is a flowchart showing operation of the driving assistance apparatus ofFIG. 1 ; -
FIG. 8 is a flowchart showing operation of the driving assistance apparatus ofFIG. 1 ; -
FIG. 9 is a schematic diagram showing a function of the driving assistance apparatus ofFIG. 1 ; -
FIG. 10 is a schematic diagram that describes a function of the driving assistance apparatus ofFIG. 1 ; -
FIG. 11 is a block diagram schematically showing the configuration of a driving assistance apparatus according to a second embodiment; -
FIG. 12A shows an example in which route guidance is overlaid on a branch guidance view in the display section ofFIG. 11 ; -
FIG. 12B shows an example in which the branch guidance view and the route guidance are shown in parallel in the display section ofFIG. 11 ; -
FIG. 12C shows an example in which the branch guidance view and the route guidance are shown in a coordinated manner in the display section ofFIG. 11 ; -
FIG. 13A is an example of displaying a branch road corresponding to a target track with only an arrow in a display section of a modification; and -
FIG. 13B is an example of displaying a recognition result of a lane division line with broken lines in a display section of a modification. - A
driving assistance apparatus 10 according to a first embodiment will now be described with reference toFIGS. 1 to 10 . Thedriving assistance apparatus 10 is mounted on avehicle 100 such as a passenger car that a driver operates. - The
driving assistance apparatus 10 in the present embodiment includes a function referred to as lane keeping assist (LKA), which performs automatic steering by recognizing a lane (traveling lane) in which thevehicle 100 is running on the basis of right and left lane division lines marked on the road to prevent thevehicle 100 from departing from the recognized driving lane. - With reference to
FIG. 1 , the outline of a driving assistance system including thedriving assistance apparatus 10 will be described. Thedriving assistance apparatus 10 includes atarget recognition section 11, a steeringassistance control section 12 that controls automatic steering based on the LKA, and adisplay control section 13 serving as an information providing section that provides the driver with information related to the LKA. Thedriving assistance apparatus 10 is composed of an arithmetic section, a storage section, and the like. The storage section stores programs for executing steering assistance and the like. Thetarget recognition section 11, the steeringassistance control section 12, and thedisplay control section 13 may perform various control tasks by using an arithmetic section and a storage section included in each of the sections or by using common arithmetic section, storage section, and the like. - The
target recognition section 11 acquires image data from animage pickup device 20 provided in thevehicle 100. Theimage pickup device 20 is provided in a position where it is possible to pick up images of the road surface in a range including at least the front, the front right side, and the front left side, of thevehicle 100. Thetarget recognition section 11 recognizes lane division lines marked on the road by using the acquired image data, according to a known image processing method such as edge detection. - The
target recognition section 11 recognizes a relative position of thevehicle 100 with respect to the right and left lane division lines to calculate deviation from a target track that is set inside of the lane division lines by a predetermined amount. In addition, thetarget recognition section 11 recognizes lane division lines in front of the vehicle to detect whether there is a branch of the road. The lane division lines include a center line of a roadway, a lane boundary line, a division line such as an outside line of a roadway, and the like. A form of the lines includes a continuous line, a broken line, a dotted line, and the like. The kind of color includes white, yellow, and the like. - The steering
assistance control section 12 calculates a steering direction and the amount of steering to cause thevehicle 100 to follow the target track on the basis of the deviation from the target track calculated by thetarget recognition section 11. Then, the steeringassistance control section 12 outputs the steering direction and the amount of steering to asteering control section 51 that drives anactuator 52 of asteering system 50 serving as a steering apparatus. The amount of steering is a steering angle θ or steering torque T, for example. - The
display control section 13 outputs information related to the LKA to adisplay section 55 provided in thevehicle 100. - In addition, the driving
assistance apparatus 10 receives the steering angle θ from asteering sensor 21, and receives the steering torque T from atorque sensor 22. Further, the drivingassistance apparatus 10 receives a vehicle speed from avehicle speed sensor 23, and receives the current position of the vehicle from avehicle position detector 24. For thevehicle position detector 24, a detector capable of detecting the vehicle position is available, and the detector calculates the vehicle position by using at least one of electronic navigation based on a global positioning system (GPS) sensor, and autonomous navigation in which the vehicle position is calculated from the vehicle speed, the moving direction of the vehicle, and the like. - Furthermore, the driving
assistance apparatus 10 is capable of acquiring information acquired by road-to-vehicle communication, information acquired by vehicle-to-vehicle communication, and information transmitted from an external server, from acommunication section 25 connectable to an external network. For example, thecommunication section 25 acquires information related to branch points and facilities in a predetermined area, road traffic information including whether there is congestion, and the like. - In addition, the driving assistance system includes a road map
information storage section 27 that storesroad map information 26. Theroad map information 26 includes information related to nodes showing branch points and intersections, and information related to links connecting between the nodes. Each of the nodes has identification information provided and is associated with an absolute position coordinate. In addition, the link also has identification information provided, and nodes to which the links connect are discriminable. In association with nodes and links, theroad map information 26 includes connection information showing whether a branch point connects to a diverting and merging section such as a junction and an exit on a highway, and whether the branch point connects to a specific facility such as a rest area, as attribute information. - As shown in
FIG. 2 , the drivingassistance apparatus 10 acquiresbranch information 30 including a branch position 30 a, abranch state 30 b, and abranch attribute 30 c, from thecommunication section 25 or theroad map information 26. The branch position 30 a is indicated by an absolute coordinate of a node, an absolute coordinate of a specific location corresponding to a branch point, or the like. Each of thebranch state 30 b and thebranch attribute 30 c corresponds to a lane (branch road) branching from the branch point. In the present embodiment, not only where a connection road (ramp way) branches from a main lane, but also where a main lane branches into a plurality of lanes, the road is treated as a branch road. - The
branch state 30 b shows a direction or a position of a branch road, for example. Thebranch attribute 30 c is information showing a connection state of a branch road. For example, thebranch attribute 30 c shows a connection destination of a branch road, and shows that the branch road connects which of a diverting and merging section such as a junction and an exit on a highway, and a specific facility such as a rest area. Data organization shown inFIG. 2 shows an example of thebranch information 30 read into the drivingassistance apparatus 10, and does not show data organization received by thecommunication section 25 or data organization of theroad map information 26. - The
display section 55 will be described with reference toFIGS. 3 and 4 . - As shown in
FIG. 3 , thedisplay section 55 is provided in aninstrument panel 56, for example, and displays guidance related to the LKA in a screen. - In addition, as shown in
FIG. 4 , thedisplay section 55 may display an image in awindshield 57 or at a position in the driver's field of vision in a portion near the driver seat, to be projected onto (not shown). In this case, thedisplay section 55 includes a projection section for projecting an image to display the guidance related to the LKA in a windshield, at the portion to be projected onto. - Next, with reference to
FIGS. 5A to 5D , patterns of guidance view related to the LKA that are displayed on thedisplay section 55 will be described. -
FIG. 5A shows abranch guidance view 60 in a first display pattern. Thebranch guidance view 60 is displayed in a case where thetarget recognition section 11 does not recognize a branch point.FIG. 5A shows anarrow 60 a that indicates a branch road to which a target track is set. -
FIG. 5B shows abranch guidance view 61 in a second display pattern. The second display pattern is displayed in a case where thetarget recognition section 11 recognizes that there is a branch point and the branch road branched from the branch point connects to a specific facility such as a rest area. In thebranch guidance view 61, twobranch roads branch point 61 a, are displayed in different colors On the branch road that connects to the facility such as a rest area, asymbol 61 d such as “REST” showing that the road connects to the facility is displayed. The example shows that a branch road corresponding to the target track is the right branch road with respect to thebranch point 61 a in a discriminable manner. - Each of
FIGS. 5C and 5D shows abranch guidance view 62 in a third display pattern. The third display pattern is displayed in a case where thetarget recognition section 11 recognizes that there is a branch point and the branch road branched from the branch point connects to a diverting and merging section such as a junction and an exit on a highway. - In the
branch guidance view 62 shown inFIG. 5C , twobranch roads branch point 62 a, are displayed different color. On the branch road that connects to the diverting and merging section such as a junction and an exit, asymbol 62 d such as “JCT/EXT” showing that the road connects to the diverting and merging section such as a junction and an exit is displayed to correspond to the branch road. The example shows that a branch road corresponding to the target track is theleft branch road 62 c with respect to thebranch point 62 a in a discriminable manner. Thebranch guidance view 62 shown inFIG. 5D shows that a branch road corresponding to the target track is theright branch road 62 b with respect to thebranch point 62 a in a discriminable manner. - Next, with reference to
FIG. 6 , threshold values Tth1 to Tth3 of steering torque for stopping steering assistance that causes a vehicle to follow a target track will be described. Broken lines inFIG. 6 show threshold values, which are set in accordance with the driving environment of thevehicle 100. Each of the threshold values Tth1 to Tth3 is set for both a positive steering angle θ and a negative steering angle θ. A solid line inFIG. 6 shows the steering torque T acting on theactuator 52 of thesteering system 50 as reaction force. The steering torque T varies with respect to the steering angle θ. The reaction force torque includes reaction force torque received by the tires from the road surface by steering, and the friction torque of theactuator 52. Usually, steering operation by the driver is performed at a steering angle and steering torque along the solid line. - The first threshold value Tth1, which has the largest absolute value among the threshold values Tth1 to Tth3, is set in a case where the
target recognition section 11 does not recognize a branch point. The second threshold value Tth2, which has an absolute value less than that of the first threshold value Tth1, is set in a case where thetarget recognition section 11 recognizes a branch point and a branch road from the branch point connects to a specific facility such as a rest area. The third threshold value Tth3, which has the smallest absolute value, is set in a case where thetarget recognition section 11 recognizes a branch point, and a branch road from the branch point connects to a diverting and merging section such as a junction and an exit on a highway. In the diverting and merging section, if a vehicle enters a lane other than a lane in a direction intended by the driver, the vehicle is forced to detour or to have a route change. In addition, in order to run along a route intended by the driver, importance or possibility of a lane change in a diverting and merging section is relatively high. Thus, a small threshold value is set to a branch road connecting to a diverting and merging section. - In a case where the first threshold value Tth1 is set as the threshold value of the steering torque T, since a large torque and a large steering angle θ are required as steering torque for stopping the steering assistance described above, the steering assistance described above cannot be easily canceled. In a case where the second threshold value Tth2 or the third threshold value Tth3 is set as the threshold value of the steering torque T, since the steering torque for stopping the steering assistance described above becomes small as compared with the case where the first threshold value Tth1 is set, steering operation for a lane change is facilitated.
- Next, with reference to
FIGS. 7 and 8 , operation of drivingassistance apparatus 10 will be described together with a steering assistance process. The process starts when a starting condition of the steering assistance is satisfied and repeats at predetermined intervals until an end condition is satisfied. - As shown in
FIG. 7 , the drivingassistance apparatus 10 acquires the position of thevehicle 100 from the vehicle position detector 24 (step S1). The steeringassistance control section 12 receives a recognition result from thetarget recognition section 11 to determine whether there is a branch point ahead in the advancing direction of the vehicle 100 (step S2). That is, it is determined whether a branch point is detected by image processing for recognizing lane division lines by using image data. Information showing whether there is a branch point is output to thedisplay control section 13. - If the steering
assistance control section 12 determines that there is no branch point ahead in the advancing direction of the vehicle 100 (NO at step S2), thedisplay control section 13 causes guidance to be displayed in the first display pattern described above (step S3). - In addition, the steering
assistance control section 12 sets a threshold value Tth for stopping the steering assistance described above to the first threshold value Tth1 described above (step S4). If the threshold value Tth is set and the end condition described above is not satisfied, the process returns to step S1 so that the process described above is repeated. - On the other hand, if the steering
assistance control section 12 determines that there is a branch point ahead in the advancing direction of the vehicle at step S2 from a result of image processing (YES at step S2), the steeringassistance control section 12 determines whether a branch road branching from the branch point connects to a specific facility such as a rest area (a gateway thereof, for example), on the basis of thebranch information 30 described above (step S5). - If the steering
assistance control section 12 determines that the branch point connects to the specific facility such as a rest area (YES at step S5), thedisplay control section 13 causes guidance to be displayed in the second display pattern described above (step S6). In addition, the steeringassistance control section 12 sets the threshold value Tth for stopping the steering assistance described above to the second threshold value Tth2 described above (step S7). - If the steering
assistance control section 12 determines that the branch point described above does not connect to the specific facility such as a rest area (NO at step S5), thedisplay control section 13 causes guidance to be displayed in the third display pattern described above (step S8). In addition, the steeringassistance control section 12 sets a threshold value Tth for stopping the steering assistance described above to the third threshold value Tth3 described above (step S9). - In parallel with the processing by procedure described above, the driving
assistance apparatus 10 performs the steering assistance for causing thevehicle 100 to follow a target track based on lane division lines, on the basis of the threshold value Tth. - As shown in
FIG. 8 , the steeringassistance control section 12 acquires the steering torque T from the torque sensor 22 (step S10), and determines whether the acquired steering torque T is less than the threshold value Tth (step S11). - If the acquired steering torque T is less than the threshold value Tth (YES at step S11), the driving
assistance apparatus 10 calculates the steering direction and the amount of steering to cause thevehicle 100 to follow the target track, and performs the steering assistance described above on the basis of the steering direction and the amount of steering (step S12). - If the acquired steering torque T is greater than or equal to the threshold value Tth (NO at step S11), the driving
assistance apparatus 10 stops the steering assistance described above (step S13). Accordingly, since priority is given to steering operation by the driver, the driver can easily change the lane to an adjacent lane by performing a steering operation. - Next, with reference to
FIGS. 9 and 10 , a function acquired by operation of the drivingassistance apparatus 10 described above will be described. - As shown in
FIG. 9 , when abranch point 101 ahead in the advancing direction of thevehicle 100 enters animaging range 102 of theimage pickup device 20, thetarget recognition section 11 detectsbranch roads FIG. 9 , thedisplay control section 13 causes thebranch road 103 corresponding to the target track to be displayed to be discriminable from theother branch road 104. That is, thebranch road 62 c in thebranch guidance view 62 is displayed in association with thebranch road 103 corresponding to the target track, and thebranch road 62 b in thebranch guidance view 62 is displayed in association with theother branch road 104. - In addition, in a case where the
branch road 103 connects to the diverting and merging section described above, thebranch guidance view 62 is displayed in the third pattern. In thebranch guidance view 62 in the third pattern, thebranch road 62 c is displayed in association with thesymbol 62 d showing that thebranch road 62 c is a diverting and merging section. - Further, the threshold value Tth for stopping the steering assistance described above is set to the third threshold value Tth3. The driver visually identifies the
branch guidance view 62 in the third display pattern to recognize thebranch road 103 that is set as a target of the steering assistance provided by the drivingassistance apparatus 10. If the direction intended by the driver is different from the direction of thebranch road 103 that is set as the target of the steering assistance, the driver performs steering operation to change the lane. When steering torque applied to theactuator 52 of thesteering system 50 becomes greater than or equal to the third threshold value Tth3, the drivingassistance apparatus 10 stops the steering operation described above. - As shown in
FIG. 10 , in a case where there is abranch road 105 connecting to a rest area ahead in the advancing direction of thevehicle 100, thebranch guidance view 61 in the second display pattern is displayed so that thebranch road 61 c is displayed in association with thesymbol 62 d showing that thebranch road 61 c is a gateway of a rest area or the like. In addition, the threshold value Tth for stopping the steering assistance described above is set to the second threshold value Tth2. The driver visually identifies thebranch guidance view 61 in the second display pattern to recognize that there is thebranch road 105 branching from amain roadway 106 that connects to a rest area. Then, the target track is set to themain roadway 106. If the driver stops at the rest area, the driver performs steering operation to change the lane. When steering torque applied to theactuator 52 of thesteering system 50 becomes greater than or equal to the second threshold value Tth2, the drivingassistance apparatus 10 stops the steering operation described above. - As described above, the present embodiment has the following advantages.
- (1) Information related to a branch road recognized by the
target recognition section 11, such as information related to a branch road corresponding to a target track, is provided to the driver. This allows the driver to easily determine whether his/her intended advancing direction matches with the branch road corresponding to the target track, before reaching the branch point, for example. Thus, it is possible to properly perform the steering assistance even near the branch road. - (2) The
display section 55 displays a branch road corresponding to a target track and the other branch roads, branch from a branch point in a discriminable manner. Thus, the driver may selectively determine which of branch roads ahead in the advancing direction of thevehicle 100 corresponds to the target track. This allows the driver to easily determine whether the branch road corresponding to the target track is along his/her intended advancing direction. - (3) The threshold value Tth for stopping the steering assistance described above is changed in accordance with a connection state of a branch road, such as a junction and a rest area, for example. That is, in a connection state in which importance or possibility of a lane change is high, the threshold value Tth is set low. Thus, it is possible to perform appropriate assistance corresponding to the driver's intention.
- (4) In a case where a certain branch road has a specific connection state, that is, in a case where the connection state of the branch road is a specific connection state, such as a junction and a rest area, information related to the connection state of the branch road is provided to the
display section 55. For example, display related to a connection state, such as “JCT/EXT,” and “REST,” in association with the branch road, is output to thedisplay section 55. Thus, the driver can easily determine whether a branch road corresponding to a target track matches with his/her intended advancing direction. - Next, a driving assistance apparatus according to a second embodiment will be described. Differences from the first embodiment will mainly be discussed. The driving assistance apparatus of the present embodiment has a basic configuration that is the same as that of the first embodiment. In the drawings, like or the same reference numerals are given to those components in the second embodiment that are like or the same as the corresponding components of the first embodiment and detailed explanations are omitted.
- As shown in
FIG. 11 , the driving assistance system includes a traveling routeinformation storage section 29 that stores travelingroute information 28 showing a route to a destination. The travelingroute information 28 is data on node and links corresponding to traveling routes, for example. The travelingroute information 28 may be created by a route search section (not shown) that searches for a route by using road map information, or may be created by thetarget recognition section 11, another control section, or the like, on the basis of the travel history of thevehicle 100. In addition, the traveling routeinformation storage section 29 may be mounted in thevehicle 100, or may be a storage section of a portable information terminal that is brought into thevehicle 100. - The
display control section 13 acquires the travelingroute information 28 in a case where thetarget recognition section 11 detects a branch point to cause a branch road corresponding to a target track to be displayed in a discriminable manner and to cause a route guidance to be displayed. - With reference to
FIGS. 12A to 12C , a mode of the display will be described. - For example, as shown in
FIG. 12A , abranch guidance symbol 65, which displays a target branch road of the steering assistance described above in a discriminable manner, and a routebranch guidance symbol 66 may be displayed by overlapping each other. In addition, as shown inFIG. 12B , thebranch guidance symbol 65 described above and the routebranch guidance symbol 66 may be displayed in parallel. Further, as shown inFIG. 12C , the routebranch guidance symbol 66 may be displayed in a mode in which the routebranch guidance symbol 66 is coordinated with thebranch guidance symbol 65 described above. - According to the second embodiment as described above, the following advantage is obtained in addition to the above described advantages (1) to (4).
- (5) Branch guidance view in which a target branch road of the steering assistance described above is displayed in a discriminable manner and route guidance are simultaneously displayed in the
display section 55. This allows the driver to easily determine whether the branch road corresponding to a target track matches with the direction of the traveling route. - The above described embodiments may be modified as follows.
- As with a
branch guidance view 67 shown inFIG. 13A , a branch road corresponding to a target track may be displayed by an arrow 67 a without displaying another branch road. In addition, as with abranch guidance view 68 shown inFIG. 13B , broken lines 68 a showing a recognition result of the lane division lines may be displayed in a case where a target track is based on a lane division line. In thebranch guidance view 67, in which the arrow 67 a is displayed, it is necessary to compare with a front view. Thus, the guidance display in each of the embodiments described above has a tendency to require less time for driver's determination of whether his/her intended advancing direction matches with a target track than that of the display by using the arrow 67 a. Thebranch guidance view 68, in which the broken lines 68 a are displayed, requires the driver to grasp deviation between the broken lines 68 a and the visually identified lane division lines ahead of the vehicle. Thus, the guidance display in each of the embodiments described above has a tendency to require less time for driver's determination of whether his/her intended advancing direction matches with a target track than that of the display by using the broken lines 68 a. - In each of the embodiments described above, although information related to the LKA is output to the
display section 55 as an image so that the image is provided to the driver, voice of guiding a direction of a branch road corresponding to a target track of the LKA may be output. In addition, providing information by voice may be performed together with output of guidance display to thedisplay section 55. - In each of the embodiments described above, although both of the road map
information storage section 27 and thecommunication section 25 are mounted in the driving assistance system, only one of them may be mounted. - The
branch guidance view 68 may also be output in a shape corresponding to an actual road shape on the basis of theroad map information 26 and the like. For example, a branch angle of each of branch roads, a vertical slope of a branch road, and the like may be displayed together with an actual branch road. In addition, a mark, an image, and the like near a gateway of a branch road may be displayed together with thebranch guidance view 68. - In each of the embodiments described above, although the threshold value Tth for stopping the steering assistance described above is set in three stages, a plural number other than three may be set. For example, the threshold value Tth in a case where the
target recognition section 11 does not detect a branch point is set larger than the threshold value Tth in a case where a branch point is detected so that the threshold value Tth may be set in two stages. Alternatively, the threshold value Tth may be set in four or more stages depending on the area and the type of roads. - The threshold value Tth for stopping the steering assistance described above may be changed on the basis of other information on a road connection state. For example, the threshold value Tth may be changed in accordance with the magnitude of the vehicle speed, the distance to a branch point, and the like.
- In each of the embodiments described above, although a target track is calculated on the basis of lane division lines, the target track may be calculated on the basis of the track of a preceding vehicle. The track of a preceding vehicle is calculated by a known method, and is calculated on the basis of analysis of image data acquired from the
image pickup device 20, and a relative position and a relative speed of the preceding vehicle based on detection signals acquired from an obstacle detection sensor (not shown) such as a radar sensor, for example. Even in this case, information related to a branch road corresponding to the target track can be provided as with each of the embodiments described above. - In each of the embodiments described above, although a target track is calculated on the basis of lane division lines, the target track may be calculated on the basis of the travel history of the host vehicle. Even in this case, information related to a branch road corresponding to the target track can be provided as with each of the embodiments described above.
- In each of the embodiments described above, although the driving
assistance apparatus 10 calculates a target track on the basis of lane division lines, the track of a preceding vehicle, and a target track that has been already calculated, such as a previous traveling track of the host vehicle, for example, may be acquired through an external network. - In the embodiment described above, although the threshold value Tth for stopping the steering assistance described above is changed on the basis of a connection state in conjunction with providing of information related to a branch road corresponding to a target track, only information related to the branch road corresponding to the target track may be provided. Even in this case, since the driver can easily determine whether his/her intended advancing direction matches with the branch road corresponding to the target track, it is possible to properly perform the steering assistance even near the branch road.
- Information related to a branch road corresponding to a target track may be output to a portable information terminal that is brought into the vehicle or the navigation system that is mounted in the
vehicle 100 other than to thedisplay section 55 described above. - The driving
assistance apparatus 10 may be a navigation system that is mounted in thevehicle 100, or may be mounted in a portable information terminal that is brought into the vehicle.
Claims (6)
1. A driving assistance apparatus that causes a vehicle to follow a target track by assisting in steering of the vehicle, the apparatus comprising:
a target recognition section that recognizes the target track ahead in an advancing direction of the vehicle;
a steering assistance control section that controls a steering apparatus to perform steering assistance, thereby causing the vehicle to follow the target track; and
an information providing section that, in a case where there is a branch point ahead in the advancing direction of the vehicle, provides a driver with information related to a first branch road corresponding to the target track in a plurality of branch roads branching from the branch point.
2. The apparatus according to claim 1 , wherein the information providing section notifies the driver of the first branch road among the branch roads in a manner discriminable from the other branch roads.
3. The apparatus according to claim 1 , wherein
the steering assistance control section changes a threshold value for stopping the steering assistance in accordance with a branch attribute that is information related to a connection state of a branch road, and
the steering assistance control section stops the steering assistance in a case where an operation amount of steering operation by the driver is greater than or equal to the threshold value.
4. The apparatus according to claim 1 , wherein the information providing section acquires traveling route information showing a traveling route of the vehicle, and provides information on a branch road corresponding to the traveling route in addition to information related to the first branch road.
5. The apparatus according to claim 1 , wherein
the information providing section provides the driver with the information related to the first branch road, and
with respect to a branch road having a specific connection state in the other branch roads, the information providing section provides the driver with information related to a connection state of the branch road in association with the branch road having the specific connection state.
6. A method for assisting driving that causes a vehicle to follow a target track by assisting in steering of the vehicle, the method comprising:
recognizing the target track ahead in an advancing direction of the vehicle;
controlling a steering apparatus to perform steering assistance, thereby causing the vehicle to follow the target track; and
in a case where there is a branch point ahead in the advancing direction of the vehicle, providing a driver with information related to a first branch road corresponding to the target track in a plurality of branch roads branching from the branch point.
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JP2014092330A JP6011577B2 (en) | 2014-04-28 | 2014-04-28 | Driving assistance device |
JP2014-092330 | 2014-04-28 |
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Also Published As
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US9676412B2 (en) | 2017-06-13 |
DE102015207123A1 (en) | 2015-10-29 |
CN105034807A (en) | 2015-11-11 |
JP2015209143A (en) | 2015-11-24 |
JP6011577B2 (en) | 2016-10-19 |
CN105034807B (en) | 2017-09-12 |
DE102015207123B4 (en) | 2020-07-09 |
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